Wikander, Jan

Abstract [en]

Modularisation and mechatronic solutions are two prominent trends in modern product development. For some mechatronic systems, modularisation is difficult. Such systems often involve functionally complex products such as robots and vehicles, where the mechanical function of a subsystem is strongly dependent on all the interacting subsystems. This paper addresses one of the problems posed by such systems. In order to illustrate the problem and a possible solution to it, a feasibility study of a modularised mechanism test bench was undertaken using a behaviour control approach. The modelling and simulation tools SimMechanics and Simulink were used to evaluate the behaviour of this mechanism. The results indicate that it is possible to modularise the control of a complex mechanism, even if the degrees of freedom are strongly dependent.